複数マニピュレータの分散協調制御における座標系の較正法

Abstract

In this paper, we propose a new method to calibrate the orientation error between the leader's coordinate system and each follower's for the leader-follower type of a decentralized coordinated motion control system of multiple robots using motion estimators(9). This method uses the relation between the leader's velocity vector in the leader's coordinate system and each follower's velocity vector in the follower's coordinate system. The orientation error is estimated recursively by using the extended Kalman filter. Experimental results illustrate the effectiveness of the proposed method. © 1998, The Japan Society of Mechanical Engineers. All rights reserved.